Handling robot

ABSTRACT

A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. patent applicationSer. No. 17/385,811 filed on Jul. 26, 2021, which is a continuation ofU.S. patent application Ser. No. 15/931,496 filed on May 13, 2020, nowpatented as U.S. Pat. No. 11,104,514B2, which is a continuation ofPCT/CN2018/104654 filed on Sep. 7, 2018, which in turn claims thepriority benefits of Chinese Patent Applications No. 201711141498.3 and201711135812.7, both filed on Nov. 14, 2017. The contents of the aboveidentified applications are incorporated herein by reference in theirentireties.

TECHNICAL FIELD

The present application relates to the field of intelligent warehousingtechnologies, and in particular, to a handling robot and a method forretrieving an inventory item based on the handling robot.

BACKGROUND

Intelligent warehousing is a link in the logistics process. Theapplication of intelligent warehousing ensures the speed and accuracy ofdata input in all aspects of warehouse management of inventory items,thereby ensuring that an enterprise can grasp the real data of theinventory in a timely and accurate manner, and reasonably maintain andcontrol inventory of the enterprise. It is also convenient to manage abatch, a shelf life, etc. of inventory items through scientific coding.Using a location management function of the SNHGES system, it ispossible to grasp current location of all inventory items in time, whichis conducive to improve an efficiency of warehouse management.

A handling robot plays an important role in intelligent warehousing. Thehandling robot replaces manual handling of the inventory items. However,in the process of implementing the present application, the inventorfound that the quantity of the inventory items that can be loaded by anexisting handling robot equipped with a shelf is too few and theefficient is low.

SUMMARY

To solve the above technical problems, embodiments of the presentapplication provide a handling robot and a method for retrieving aninventory item based on the handling robot, which can load a largenumber of inventory items.

In order to solve the above technical problems, the embodiments of thepresent application provide the following technical solutions.

In a first aspect, there is provided a method for retrieving aninventory item based on a handling robot, where the handling robotincludes a storage frame; a material handling device that is installedon the storage frame and includes a telescopic arm and a manipulatorinstalled on telescopic arm; and the method for retrieving an inventoryitem includes: driving, by the telescopic arm, the manipulator to extendto a preset position of a warehouse shelf along a preset horizontalreference line; loading, by the manipulator that is remained on ahorizontal plane where the reference line is located, an inventory itemlocated at the preset position; driving, by the telescopic arm, themanipulator loaded with the inventory item to move to the storage framealong the reference line; unloading, by the manipulator that is remainedon the horizontal plane where the reference line is located, theinventory item to the storage frame.

In some embodiments, the handling robot further includes: a liftingassembly installed between the storage frame and the material handlingdevice; the method for retrieving an inventory item further includes:before the telescopic arm drives the manipulator to extend to the presetposition of the warehouse shelf along the reference line, driving, bythe lifting assembly, the material handling device to move in a verticaldirection so that the manipulator horizontally faces to the presetposition.

In some embodiments, the storage frame includes: a plurality of storageunits distributed in the vertical direction; the method for retrievingan inventory item further includes: before the telescopic arm drives themanipulator loaded with the inventory item to move to the storage framealong the reference line, driving, by the lifting assembly, the materialhandling device to move in the vertical direction so that the materialhandling device horizontally faces to a corresponding storage unit.

In some embodiments, the handling robot further includes: a movablechassis equipped with the storage frame; the method for retrieving aninventory item further includes: before the lifting assembly drives thematerial handling device to move in the vertical direction so that thematerial handling device horizontally faces to the preset position,causing the movable chassis to move to a preset range in front of thewarehouse shelf.

In some embodiments, the handling robot further includes: a detectiondevice installed on the material handling device; the method forretrieving an inventory item further includes: before the telescopic armdrives the manipulator to extend to the preset position of the warehouseshelf along the reference line, and after the lifting assembly drivesthe telescopic arm to move in the vertical direction so that thematerial handling device horizontally faces to the preset position,detecting, by the detection device, position information of the materialhandling device relative to the inventory item, and adjusting, by thehandling robot, a posture of fetching the inventory item according tothe position information of the material handling device relative to theinventory item.

In some embodiments, the movable chassis can move along its travellingdirection; the position information of the material handling devicerelative to the inventory item includes a first position offset betweenthe inventory item and the reference line in the travelling direction;the adjusting, by the handling robot, a posture of fetching theinventory item according to the position information of the materialhandling device relative to the inventory item, includes: causing themovable chassis to move along the travelling direction according to thefirst position offset, so that the first position offset is smaller thana first error value.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes a second position offsetbetween the inventory item and the reference line in the verticaldirection, the adjusting, by the handling robot, a posture of fetchingthe inventory item according to the position information of the materialhandling device relative to the inventory item, includes: driving, bythe lifting assembly, the material handling device to move in thevertical direction according to the second position offset, so that thesecond position offset is smaller than a second error value.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes a distance between theinventory item and the manipulator along the reference line; theadjusting, by the handling robot, a posture of fetching the inventoryitem according to the position information of the material handlingdevice relative to the inventory item, includes: adjusting an extensionamount of the telescopic arm along the reference line according to thedistance, so that the extension amount is larger than the distance.

In some embodiments, the detection device includes: an image acquisitiondevice; when the image acquisition device acquires image information ofthe inventory item, the detection device detects the positioninformation of the material handling device relative to the inventoryitem.

In some embodiments, a surface of the inventory item facing the handlingrobot is attached with a two-dimensional code label; when the imageacquisition device acquires the image information of the inventory item,information provided by the two-dimensional code label is collected, toobtain the position information of the material handling device relativeto the inventory item.

In some embodiments, the material handling device further includes: atemporary storage unit, the temporary storage unit being provided withthe telescopic arm and the detection device; the method for retrievingan inventory item further includes: before the telescopic arm drives themanipulator loaded with the inventory item to move to the storage framealong the reference line, driving, by the telescopic arm, themanipulator loaded with the inventory item to retract to the temporarystorage unit along the reference line; unloading, by the manipulatorthat is remained on the horizontal plane where the reference line islocated, the inventory item to the temporary storage unit; and loading,by the manipulator that is remained on the horizontal plane where thereference line is located, the inventory item located on the temporarystorage unit.

In some embodiments, the material handling device further includes: afork comprising the telescopic arm, the temporary storage unit, thedetection device and the manipulator; a support bracket installed on thestorage frame; a rotation assembly installed between the fork and thesupport bracket; the method for retrieving an inventory item furtherincludes: after the manipulator that is remained on the horizontal planewhere the reference line is located loads the inventory item located onthe temporary storage unit, and before the telescopic arm drives themanipulator loaded with the inventory item to move to the storage framealong reference line, driving, by the rotation assembly, the telescopicarm to rotate around the vertical direction to a preset angle, so thatthe material handling device is oriented towards the storage frame.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes: a deflection amountbetween the inventory item and the reference line in a horizontaldirection; the adjusting, by the handling robot, a posture of fetchingthe inventory item according to the position information of the materialhandling device relative to the inventory item includes: driving, by therotation assembly, the fork to rotate around the vertical directionaccording to the second position offset, so that the deflection amountis smaller than a third error value.

In some embodiments, the handling robot further includes: a deflectiondetection device connected between the fork and the support bracket; thedriving, by the rotation assembly, the fork to rotate around thevertical direction includes: when the deflection detection devicedetects that the fork has not yet rotated to the preset angle, driving,by the rotation assembly, the fork to continue to rotate; when thedeflection detection device detects that the fork has rotated over thepreset angle, driving, by the rotation assembly, the fork to rotate in areverse direction; and when the deflection detection device detects thatthe fork rotates to the preset angle, causing the rotation assembly tostop rotating.

In some embodiments, the deflection detection device includes a firstsensor provided with a first detection range; a second sensor providedwith a second detection range; when the first sensor detects the fork inthe first detection range, and the second sensor does not detect thefork in the second detection range, the deflection detection devicedetects that the fork has not yet rotated to the preset angle; when thefirst sensor does not detect the fork in the first detection range, andthe second sensor detects the fork in the second detection range, thedeflection detection device detects that the fork has rotated over thepreset angle; and when the first sensor detects the fork in the firstdetection range, and the second sensor detects the fork in the seconddetection range, the deflection detection device detects that the forkrotates to the preset angle.

In some embodiments, the inventory item includes a first inventory itemand a second inventory item; the preset position includes a first presetposition and a second preset position, and the first inventory item islocated at the first preset position, the second inventory item islocated at the second preset position; the storage frame includes afirst storage unit and a second storage unit; when there is the secondinventory item back behind the first inventory item, the method forretrieving an inventory item further includes: driving, by thetelescopic arm, the manipulator to extend to the first preset positionof the warehouse shelf along the reference line; loading, by themanipulator that is remained on the horizontal plane where the referenceline is located, the first inventory item located at the first presetposition; driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the first storage unit; unloading,by the manipulator that is remained on the horizontal plane where thereference line is located, the first inventory item to the first storageunit; driving, by the telescopic arm, the manipulator to move to thesecond preset position of the warehouse shelf along the reference line;loading, by the manipulator that is remained on the horizontal planewhere the reference line is located, the second inventory item locatedat the second preset position; driving, by the telescopic arm, themanipulator loaded with the second inventory item to move to the secondstorage unit along the reference line; and unloading, by the manipulatorthat is remained on the horizontal plane where the reference line islocated, the second inventory item to the second storage unit.

In some embodiments, the method for retrieving an inventory item furtherincludes: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the horizontal plane where the reference lineis located; driving, by the telescopic arm, the manipulator to beremained on the horizontal plane where the reference line is located andto load the first inventory item located at the first storage unit;driving, by the telescopic arm, the manipulator loaded with the firstinventory item to move to the first preset position of the warehouseshelf along the reference line; and unloading, by the manipulator thatis remained along the reference line, the first inventory item to thefirst preset position of the warehouse shelf.

In an embodiment, the method for retrieving an inventory item furtherincludes: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the reference line; driving, by the telescopicarm, the manipulator to be remained on the horizontal plane where thereference line is located, to load the first inventory item located atthe first storage unit; driving, by the telescopic arm, the manipulatorloaded with the first inventory item to move to the second presetposition of the warehouse shelf along the reference line; and unloading,by the manipulator that is remained on the horizontal plane where thereference line is located, the first inventory item to the second presetposition of the warehouse shelf.

In some embodiments, the method for retrieving an inventory item furtherincludes: uploading current position information of the first inventoryitem.

Compared with the prior art, the present application provides a methodfor retrieving an inventory item based on a handling robot, where thehandling robot includes: a storage frame; and a material handling deviceinstalled on the storage frame, the material handling device including atelescopic arm and a manipulator installed on the telescopic arm; themethod for retrieving an inventory item includes: driving, by thetelescopic arm, the manipulator to extend to a preset position of awarehouse shelf along a preset horizontal reference line; loading, bythe manipulator that is remained along the reference line, the inventoryitem located at the preset position; driving, by the telescopic arm, themanipulator loaded with the inventory item to move to the storage framealong the reference line; unloading, by the manipulator that is remainedalong the reference line, the inventory item to the storage frame. Theabove method can realize moving the inventory item into the storageframe along the preset horizontal reference line, occupying a smallspace of the storage frame in the vertical direction, and loading alarger number of inventory items.

In a second aspect, there is provided a handling robot, including: amovable chassis; a storage frame, installed on the movable chassis, andprovided with a plurality of storage units distributed in a verticaldirection, each storage unit being configured to place an inventoryitem; a material handling device for transporting the inventory itembetween a warehouse shelf and any one of the storage units, the materialhandling device having a preset horizontal reference line, andcomprising a pusher assembly that is movable relative to the storageframe along the reference line; and a lifting assembly for driving thematerial handling device to move in the vertical direction, so that anyone of the storage units is located on the reference line; when one ofthe storage units is located on the reference line, the pusher assemblypushes the inventory item to a corresponding storage unit along thereference line, or the pusher assembly pulls the inventory item locatedat the corresponding storage unit away therefrom

In some embodiments, the material handling device further includes atemporary storage unit; the temporary storage unit is configured totemporarily store an inventory item that is to be transported betweenthe warehouse shelf and any one of the storage units, and the temporarystorage unit has the reference line; when one of the storage units islocated on the reference line, the pusher assembly may push an inventoryitem located on the temporary storage unit to a corresponding storageunit along the reference line, or the pusher assembly may pull aninventory item on a corresponding storage unit to the temporary storageunit.

In some embodiments, the material handling device further includes atelescopic arm.

The telescopic arm includes an outer arm section and an inner armsection, the outer arm section is fixedly installed to the temporarystorage unit, and the inner arm section is installed to the outer armsection; the pusher assembly is installed to the inner arm section; theinner arm section can move relative to the outer arm section along thereference line, so that the pusher assembly can move relative to thestorage frame along the reference line.

In some embodiments, the pusher assembly includes a manipulator; themanipulator is installed at an end of the inner arm section, so that themanipulator can move relative to the storage frame along the referenceline, and the manipulator can unfold or fold relative to the inner armsection; when the manipulator folds relative to the inner arm section,an end of the inner arm section installed with the manipulator moves toanother side from one side of the inventory item on the storage unit orthe warehouse shelf that are located on the reference line, so that themanipulator unfolded relative to the inner arm section pulls acorresponding inventory item to the temporary storage unit.

In some embodiments, the pusher assembly further includes a fixed pushrod; the fixed push rod is installed at an end of the inner arm sectionaway from the manipulator, so that the fixed push rod can move relativeto the storage frame along the reference line.

The fixed push rod is configured to push the inventory item placed onthe temporary storage unit to the storage unit located on the referenceline, or to push the inventory item placed on the temporary storage unitto an empty position of the warehouse shelf.

In some embodiments, the pusher assembly further includes a push roddriving device; the push rod driving device is connected to themanipulator, and is configured to drive the manipulator to rotaterelative to the inner arm section, so that the manipulator can fold orunfold relative to the inner arm section.

In some embodiments, the telescopic arm further includes a middle armsection, a flat belt pulley, and an open-loop flat belt; the middle armsection is installed between the inner arm section and the outer armsection, and the middle arm section can move relative to the outer armsection along the reference line, and the inner arm section can moverelative to the middle arm section along the reference line; the flatbelt pulley is installed on the middle arm section; a middle part of theopen-loop flat belt is arranged to be bent and sleeved over the flatbelt pulley, so that both ends of the open-loop flat belt are oppositelyarranged, one end being fixedly connected to the outer arm section, andthe other end being fixedly connected to the inner arm section; when themiddle arm section moves at a first speed relative to the outer armsection along the reference line, the inner arm section moves at asecond speed relative to the outer arm section along the reference line,and the second speed is twice the first speed.

In some embodiments, the material handling device includes a supportbracket, a fork, and a rotation assembly; the support bracket isinstalled on the movable chassis, and the lifting assembly is configuredto drive the support bracket to move in the vertical direction; the forkincludes the temporary storage unit, the telescopic arm and the pusherassembly; the rotation assembly includes a first rotating member and asecond rotating member; the first rotating member is installed to thesupport bracket; the second rotating member is installed to thetemporary storage unit, and can rotate in a vertically set rotation axisrelative to the first rotating member, so that the fork can rotatearound the rotation axis relative to the support bracket.

In some embodiments, the material handling device further includes adetection device; the detection device is configured to detect whether acorresponding warehouse shelf or storage unit is located on thereference line.

In some embodiments, the detection device includes an image acquisitiondevice; the image acquisition device is configured to acquire imageinformation of the inventory item to detect whether the correspondingwarehouse shelf or storage unit is located on the reference line.

Compared with the prior art, in the handling robot of the embodiment ofthe present application, the handling robot includes: a movable chassis;a storage frame installed on the movable chassis, and provided with aplurality of storage units distributed in a vertical direction, eachstorage unit being configured to place an inventory item; a materialhandling device, configured to transport the inventory item between awarehouse shelf and any one of the storage units, having a presethorizontal reference line, and including a pusher assembly, the pusherassembly being movable relative to the storage frame along the referenceline; a lifting assembly for driving the material handling device tomove in a vertical direction, so that any one of the storage units islocated on the reference line; when one of the storage units is locatedon the reference line, the pusher assembly can push the inventory itemto a corresponding storage unit along the reference line, or pull aninventory item located on a corresponding storage unit away. Aninventory item can be pushed into or pulled from the storage unit in theabove manner, so that a distance between each two adjacent storage unitsis small, and more storage units can be placed in the handling robotwith the same vertical height, increasing the maximum load capacity.

BRIEF DESCRIPTION OF DRAWINGS

One or more embodiments are exemplified by drawings corresponding to theembodiments. These exemplary descriptions do not constitute limitationson the embodiments. Elements with the same reference numerals in thedrawings represent similar elements. Figures in the drawings are notdrawn to scale unless otherwise stated.

FIG. 1 is a schematic structural diagram of a handling robot accordingto an embodiment of the present application;

FIG. 2 is an exploded schematic diagram of the handling robot shown inFIG. 1;

FIG. 3 is an exploded schematic diagram of a movable chassis of thehandling robot shown in FIG. 2;

FIG. 4 is a schematic structural diagram of a standing frame and alifting assembly of the handling robot shown in FIG. 2;

FIG. 5 is a schematic structural diagram of a driving wheel assembly ofthe movable chassis shown in FIG. 3;

FIG. 6 is a schematic structural diagram of a material handling deviceof the handling robot shown in FIG. 2;

FIG. 7 is an exploded schematic diagram of the material handling deviceshown in FIG. 6;

FIG. 8 is a structural schematic diagram of part of a fork of thematerial handling device shown in FIG. 7;

FIG. 9 is a schematic structural diagram of a middle arm section and aninner arm section driving assembly of the fork shown in FIG. 8;

FIG. 10 is a schematic structural diagram of the material handlingdevice shown in FIG. 6 from another angle, in which part of thestructure of the material handling device is omitted; and

FIG. 11 is a flowchart of a method for retrieving an inventory itemaccording to another embodiment of the present application.

DESCRIPTION OF EMBODIMENTS

In order to facilitate understanding of the present application, thepresent application will be described in more detail below withreference to the drawings and specific embodiments. It should be notedthat when an element is expressed as “fixed” to another element, it maybe directly on the another element, or there may be existed one or moreintermediate elements therebetween. When an element is expressed as“connected” to another element, it may be directly connected to theanother element, or there may be existed one or more intermediateelements therebetween. The terms “vertical”, “horizontal”, “left”,“right”, “inner”, “outer”, “first”, “second”, “third”, and similarexpressions used in the description of the present application are forillustrative purposes only. The term “connected” has the same meaning asthe term “attached” or “coupled”. The term “install” has a same meaningas the term “mount”, including a means of directly or indirectlyinstalling. The term “indirectly installed or connected” means there maybe existed one or more intermediate elements therebetween.

Unless otherwise defined, all technical and scientific terms used in thedescription of the present application have the same meaning as commonlyunderstood by a person skilled in the art to which the presentapplication pertains. The terms used in the description of the presentapplication is only for the purpose of description of specificembodiments, and are not intended to limit the present application. Theterm “and/or” used in the description of the present applicationincludes any and all combinations of one or more related items listed.

Referring to FIGS. 1 and 2, an embodiment of the present applicationprovides a handling robot 100, which can be applied to an intelligentwarehousing system, an intelligent logistics system, or an intelligentsorting system, etc. In this embodiment, the handling robot 100 appliedto the intelligent warehousing system will be taken as an example fordetailed description.

The intelligent warehousing system is provided with a warehouse shelf,and the warehouse shelf is provided with a preset position for placingan inventory item.

It should be noted that the inventory item may be a single object ormultiple objects.

The handling robot 100 includes a movable chassis 10, a storage frame20, a material handling device 30, and a lifting assembly 40. Thestorage frame 20, the material handling device 30 and the liftingassembly 40 are all installed to the movable chassis 10.

The movable chassis 10 is configured to realize a moving function of thehandling robot 100.

Refer to FIG. 3 together, the movable chassis 10 includes a bracketassembly 11, a driven wheel 12, a driving wheel assembly 13 and aguiding device 14. The driven wheel 12, the driving wheel assembly 13and the guiding device 14 are all installed to the bracket assembly 11.

The bracket assembly 11 is assembled by welding a steel beam, a steelplate and a skin, and the bracket assembly 11 includes a base 110 and astanding frame 111. The standing frame 111 is installed to the base 110.There are many ways to install the standing frame 111. For example, thestanding frame 111 may be installed directly or indirectly on the base110 by fasteners, such as screwed nuts. The standing frame 111 may alsobe integrally formed with the base 110, and therefore installing on thebase 110.

The base 110 includes a base body 112, a shaft seat 113, and a shockabsorber bracket 114. The shaft seat 113 is installed to the base body112, and the shock absorber bracket 114 is also installed to the basebody 112.

The base body 112 is a horizontally arranged rectangular plate having asymmetrical axis S1, and the base body 112 includes a first surface 1120and a second surface 1121 that are oppositely arranged. It can be seenfrom FIG. 3 that the first surface 1120 is a lower surface of the basebody 112, and the second surface 1121 is an upper surface of the basebody 112.

The base body 112 is provided with a driven wheel installation socket1122, a driving wheel installation socket 1124, and a guiding deviceinstallation socket 1123.

The driven wheel installation socket 1122 is provided on a first surface1120 of the base body 112, and is configured to install the driven wheel12.

The driving wheel installation socket 1124 is arranged as penetratingthrough the first surface 1120 and the second surface 1121 of the basebody 112, and the driving wheel installation socket 1123 is configuredto accommodate the driving wheel assembly 13.

The guiding device installation socket 1123 is arranged as penetratingthrough the first surface 1120 and the second surface 1121 of the basebody 112, and the guiding device installation socket 1123 is configuredto install the guiding device 14.

The shaft seat 113 and the shock absorber bracket 114 are both installedto the second surface 1121 of the base body 112, and both the shaft seat113 and the shock absorber bracket 114 are configured to install thedriving wheel assembly 13 together.

It should be noted that, by providing the driven wheel installationsocket 1122 for installing the driven wheel 12 and the driving wheelinstallation socket 1124 for accommodating the driving wheel assembly13, a ground clearance and a centroid height of the movable chassis 10can be controlled, so that the grip of the movable chassis 10 isimproved, and the stability of movement of the movable chassis 10 isimproved.

Refer to FIGS. 1 and 2, the base 110 includes a housing 51 configured tohouse at least one of the base body 112, the shaft seat 113, the shockabsorber bracket 114, and the guiding device 14. It can be seen fromFIG. 1 that a compartment 511 is formed by an upper surface of thehousing 51, and at least a part of the material handling device 30 canbe accommodated in the compartment 511 when the material handling device30 is lowered to the lowest position. It is obvious from FIG. 1 that thecompartment 511 is provided with a bottom surface. In an embodiment, thecompartment 511 is not a through hole. In an embodiment, the compartment511 is provided with a cavity or a depression, as long as the bottom orlower surface of the compartment 511 is lower than a surrounding area.For example, as shown in FIG. 1, when the material handling device 30 islowered to a particular height (e.g., the lowest height), a part of thebottom of the material handling device 30 is in the compartment 511. Inthis way, the material handling device 30 can drop to a lower position.

It should be noted that when the material handling device 30 isaccommodated in the compartment 511, it is not required that thematerial handling device 30 is place on the compartment 511 or supportedby the compartment 511. The lower part of the material handling device30 is within a space enclosed by the compartment 511 when the materialhandling device 30 is lowered to the lowest position.

Refer to FIG. 4 together, the standing frame 111 is installed to thesecond surface 1121 of the base body 112. The standing frame 111includes vertical columns 115 and horizontal columns 116 installed tothe vertical columns 115.

The vertical columns 115 is vertically arranged and installed to thesecond surface 1121 of the base body 112. Two vertical columns aresymmetrically distributed relative to a symmetrical axis S1.

A surface of each vertical column 115 facing another vertical column 115is provided with a guide rail along a vertical direction. The materialhandling device 30 is installed to guide rails of the two verticalcolumns, so that the material handling device 30 can move relative tothe vertical columns 115 along the vertical direction.

It should be understood that, according to an actual situation, thenumber of the guide rail is not limited to two. For example, the numberof the guide rail may be one, three, or more than three, as long asthere is at least one.

The horizontal columns 116 are horizontally arranged and are connectedbetween two vertical columns 115. A plurality of horizontal columns 116are distributed in a vertical direction.

In an embodiment, each of the horizontal columns 116 is integrallyformed with the vertical columns 115. In some other embodiment, each ofthe horizontal columns 116 is fixedly attached to the vertical columns115 by a fastener, such as a screwed nut.

As shown in FIG. 4, the standing frame 111 further includes a tophorizontal bar 117 configured to connect the two vertical columns 115. Awireless communication unit 118 is provided on the top horizontal bar117. The wireless communication unit 118 includes an antenna forreceiving or sending wireless data. It can be seen from FIGS. 1 and 2that the top horizontal bar 117 is, at least in part, enclosed by ahousing 53.

As shown in FIGS. 1 to 4, each of the two vertical columns 115 is, atleast in part, enclosed by a housing 52.

Four driven wheels 12 are distributed in a first rectangle, and one ofsymmetrical axes of the first rectangle coincides with the symmetricalaxis S1. The four driven wheels 12 support the bracket assembly 11.

It should be understood that, according to an actual situation, thenumber of the driven wheel 12 is not limited to four, for example, thenumber of the driven wheel 12 may also be three, four or more than four,as long as there are at least three.

In this embodiment, the driven wheel 12 is a universal wheel.

It should be understood that, according to an actual situation, thedriven wheel 12 is not limited to a universal wheel. For example, thedriven wheel 12 may be a wheel body with a steering bracket (refer to arear wheel set of an automobile), as long as the driven wheel 12 has asteering function.

The driving wheel assembly 13 is configured to drive the movable chassis10 to move. The driving wheel assembly 13 is installed to the base 110.Two driving wheel assemblies 13 are symmetrically distributed relativeto the symmetrical axis S1, and any one of the driving wheel assemblies13 is located between two driven wheels 12.

Referring to FIG. 5 together, each driving wheel assembly 13 includes adriving wheel bracket 130, a driving wheel body 131, a hub drivingdevice 132, and a hub reduction device 133. The driving wheel body 131is installed to the driving wheel bracket 130, and the driving wheelbody 131 can rotate around a rotation axis S2 relative to the drivingwheel bracket 130. The rotation axis S2 is horizontal and perpendicularto the symmetrical axis S1, so that the movable chassis 10 can bemovable. An output end of the hub driving device 132 is connected to aninput end of the hub reduction device 133, and an output end of the hubreduction device 133 is connected to the driving wheel body 131 by aflange. The hub driving device 132 is configured to provide a firstdriving force for rotation of the driving wheel body 131 around therotation axis S2. The hub reduction device 133 is configured to transmitthe first driving force.

It should be understood that, according to an actual situation, the hubreduction device 133 may be omitted. In some embodiments, the output endof the hub driving device 132 is directly connected to the driving wheelbody 131 by a flange, so that the driving wheel body 131 can rotatearound the rotation axis S2.

It should be noted that the output end of the hub reduction device 133or the output end of the hub driving device 132 is connected to thedriving wheel body 131 by a flange, which can improve the reliability ofthe connection to the driving wheel body 131 and realize a stableinstallation of the driving wheel body 131, not easy to be detached.

The hub driving devices 132 of two driving wheel assemblies 13 are usedto perform independent driving controls. Two driving wheel bodies 131may have different rotational speeds, so that the movable chassis 10turns toward a side of one driving wheel body 131 with a lowerrotational speed, to realize a turning function of the movable chassis10.

Furthermore, the driving wheel bracket 130 includes a hub bracket 134,an axle body 135, and a shock absorber 136. One end of the driving wheelbracket 130 is arranged near the first axis S1, and the other end isarranged away from the first axis S1. The driving wheel body 131 isinstalled to an end of the hub bracket 134 away from the symmetricalaxis S1. The axle body 135 is connected to the hub bracket 134, and theaxle body 135 is arranged to be parallel to the symmetrical axis S1. Theaxle body 135 is installed to the shaft seat 113 so that the drivingwheel assembly 13 can rotate around the axle body 135 relative to thebase body 112. One end of the shock absorber 136 is hinged to an end ofthe shock absorber bracket 114 away from the base body 112, so that theshock absorber 136 can rotate around the first axis S4 that is parallelto the axle body 135, relative to the base body 112; and the other endof the shock absorber 136 is hinged to an end of the hub bracket 134away from the axle body 135, so that the shock absorber 136 can rotatearound the second axis S3 that is parallel to the axle body 135,relative to the hub bracket 134. The shock absorber bracket 114, the hubbracket 134, and the shock absorber 136 form a triangular structure.When the movable chassis 10 turns, the shock absorber 136 can buffer apart of the eccentric force, to further improve the stability ofmovement of the movable chassis 10.

In this embodiment, the hub driving device 132 is a first motor.

It should be understood that, according to an actual situation, the hubdriving device 132 is not limited to the first motor. For example, thehub driving device 132 may also be an air motor, a hydraulictransmission system, etc.

The guiding device 14 is installed to the second surface 1121 of thebase body 131 through a guiding device bracket. In this embodiment, theguiding device 14 is a camera, and a lens of the camera is orientedtoward the guiding device installation socket 1124, for identifying atwo-dimensional code attached on the ground so that the movable chassis10 travels along a preset path.

It should be understood that, according to an actual situation, theguiding device 14 is not limited to the camera. For example, the guidingdevice 14 may be a laser guiding device that travels along a laser beam.For another example, the guiding device 14 is a short wave receivingdevice, which realizes a guiding function by receiving a specific shortwave signal, and so on.

Refer back to FIG. 2, the storage frame 20 includes a vertical pole 21,a horizontal pole 22 and a storage unit 23. The vertical pole 21 isvertically arranged and installed to the second surface 1121 of the basebody 112. Two vertical poles 21 are symmetrically distributed relativeto the symmetrical axis S1. The horizontal pole 22 is horizontallyarranged and is connected between the two vertical poles 21. Both thenumber of the horizontal pole 22 and the number of the storage unit 23correspond to the number of the horizontal column 116. One horizontalpole 22 and one corresponding horizontal column 116 support onecorresponding storage unit 23, and each storage unit 23 is provided foraccommodating an inventory item.

A vertical height of any one of horizontal poles 22 is lower than avertical height of a corresponding horizontal column 116, so that acorresponding storage unit 23 inclines from a side at which thecorresponding horizontal column 116 is located to a side at which acorresponding horizontal pole 22 is located, so that an inventory itemplaced in the storage unit is not easy to slip off from the side atwhich the horizontal column 116 is located.

Further, each storage unit 23 includes a plate body 24 and a surroundingplate 25. The plate body 24 are support jointly by the horizontal pole22 and the horizontal column 116. The surrounding plate 25 is arrangedaround an edge of the plate body 24, and provides an opening 26 at aside near the horizontal column 116. The surrounding plate 25 canprevent an inventory item sliding off from the plate body 24, and theinventory item can be pushed into or pulled away from the plate body 24through the opening 26. The material handling device 30 is configured totransport an inventory item between the warehouse shelf and any one ofthe storage units of the storage frame 20.

It should be noted that the number of the opening is not limited. In anembodiment, as shown in FIGS. 1-2, the plate body 24 is a plate with aflat upper surface, and each storage unit 23 has a single opening 26. Insome other embodiment, the plate body 24 includes two plates spacedapart from each other. It may be possible that two openings areprovided. For example, one opening is provided at a side near thehorizontal column 116, and one opening is provided at a side away fromthe horizontal column. The inventory item can be pushed into or pulledaway from the plate body 24 by the material handling device 30 throughthe opening near the horizontal column 116.

The structure or shape of the plate body 24 is not limited in thepresent invention, as long as the plate body 24 can support a weight ofthe inventory item. In an embodiment, as shown in FIGS. 1-2, the platebody 24 includes a flat upper surface. In some other embodiment, theupper surface of the plate body 24 is not flat. For example, the uppersurface of the plate body 24 is rough and uneven.

In an embodiment, the plate body 24 is integrally formed with thehorizontal column 116 supporting the plate body 24. In some otherembodiments, the plate body 24 is fixedly attached on the horizontalcolumn 116 supporting the plate body 24 by fasteners, such as screwednuts.

In an embodiment, the vertical pole 21 and the horizontal pole 22 can beomitted. In an embodiment, each storage unit 23 is wholly supported bythe corresponding horizontal column 116. In an embodiment, a storageunit 23 disposed at a lowest height is supported by both the horizontalcolumn 116 and the housing 51, and other storage units 23 are whollysupported by the horizontal column 116.

The material handling device 30 can move along the vertical direction sothat a position of the material handling device 30 is horizontallyopposite to any one of the storage units. The material handling device30 is configured to transport the inventory item between a presetposition of the warehouse shelf and any one of the storage units.

It can be seen from FIGS. 1-4 that the storage frame 20 and the materialhandling device 30 are disposed at different sides of the verticalcolumns 115. For example, as shown in FIGS. 1-2, the two verticalcolumns 115 form a vertical plane. The material handling device 30 isdisposed at a left side of the vertical plane, and the storage frame 20is disposed at a right side of the vertical plane.

Refer to FIGS. 6 and 7 together, the material handling device 30includes a support bracket 31, a fork 32, a rotation assembly 33, and adetection device 34. The rotation assembly 33 is installed between thesupport bracket 31 and the fork 32, so that the fork 32 can rotatearound a vertically set rotation axis 55 relative to the support bracket31. The detection device 34 is configured to detect position informationof the material handling device 30 relative to the inventory item.

The support bracket 31 is assembled by welding a steel beam and a steelplate, and is a horizontal arranged plate structure. An end of thesupport bracket 31 near the standing frame 111 is provided with a slide310. Two slides 310 are symmetrically distributed relative to thesymmetrical axis 51. Each slide 310 is installed to a correspondingguide rail, and moves along the guide rail. The fork 32 installed to thesupport bracket 31 moves along the vertical direction relative to thestorage frame 20.

The fork 32 is configured to transport the inventory item between thepreset position of the warehouse shelf and any one of the storage units.The fork 32 includes a temporary storage unit 35, a telescopic arm 36,and a pusher assembly 37. The temporary storage unit 35 has a referenceline S6. The telescopic arm 36 is installed to the temporary storageunit 35, and is separated from the reference line S6 by a presetdistance. The pusher assembly 37 is installed to the telescopic arm 36.The telescopic arm 36 drives the pusher assembly 37 to move in adirection parallel to the reference line S6.

When the fork 32 moves along the vertical direction, any one of thestorage units may locates on the reference line S6. That is, the fork 32can move to a same height as any one of the storage units.

When one of the storage units is located on the reference line S6, thepusher assembly 37 may push the inventory item located on the temporarystorage unit 35 to the corresponding storage unit 23 along the referenceline S6, or the pusher assembly 37 may pull the inventory item on thecorresponding storage unit 23 to the temporary storage unit 35.

In an embodiment, the pusher assembly 37 is further configured to pullthe inventory item located on the warehouse shelf to the temporarystorage unit 35, or push the inventory item located on the temporarystorage unit 35 to a preset position of the warehouse shelf.

It should be understood that, according to an actual situation, in theprocess of transporting the inventory item on the warehouse shelf to thetemporary storage unit 35, the fork 32 is not limited to using thepusher assembly 37 to pull the inventory item on the warehouse shelf tothe temporary storage unit 35, or to push the inventory item on thetemporary storage unit 35 to a preset position on the warehouse shelf.In some embodiments, the fork 32 further includes a pickup component fortransporting the inventory item on the warehouse shelf to the temporarystorage unit. For example, the pickup component clamps the inventoryitem on the warehouse shelf to the temporary storage unit 35 byclamping. For another example, the pickup component lifts the inventoryitem from the warehouse shelf to the temporary storage unit 35 bylifting, and so on.

The temporary storage unit 35 is a horizontally arranged rectangularplate structure with the reference line S6. The temporary storage unit35 is configured to temporarily store an inventory item to betransported between the warehouse shelf and any one of the storage units23.

For example, in the process of transporting the inventory item from thewarehouse shelf to the storage frame 20, the fork 32 first transportsthe inventory item on the warehouse shelf to the temporary storage unit35, and then the fork 32 transports the inventory item on the temporarystorage unit 35 to any one of the storage units 23 of the storage frame20. And vice versa, and due to word limitations, no description isrepeated here.

It should be noted that, for the provision of the temporary storage unit35, in a first aspect, it can transport an inventory item on one storageunit 23 to another storage unit 23, having a wide range of applications.In a second aspect, it can be realized that any storage unit 23 does notneed to be located on the reference line S6 with the warehouse shelf atthe same time, and there is no need for adaptive adjustment between thewarehouse shelf and the storage frame 20, which makes the handling robot100 has strong compatibility and can be adapted to differentenvironments. Since there is no need to modify the warehouse shelf andthe storage frame 20, the economy is better. In a third aspect, thetemporary storage unit 35 can also store the inventory item for a longtime, so that the maximum load capacity of the handling robot 100 isexpanded.

Two telescopic arms 36 are symmetrically distributed relative to thereference line S6.

It should be understood that, according to an actual situation, thenumber of the telescopic arms 36 is not limited to two, for example, thenumber of the telescopic arm 36 may be one.

Each telescopic arm 36 includes an outer arm section 360, a middle armsection 361, an inner arm section 362, a middle arm section drivingassembly 363, and an inner arm section driving assembly 364. The outerarm section 360 is installed to the temporary storage unit 35, and themiddle arm section 361 is installed to the outer arm section 360. Themiddle arm section 361 can move relative to the outer arm section 360along the reference line S6. The inner arm section 362 is installed tothe middle arm section 361, and the inner arm section 362 can moverelative to the middle arm section 361 along the reference line S6. Themiddle arm section driving assembly 363 is configured to drive themiddle arm section 361 to move relative to the outer arm section 360along the reference line S6, and the inner arm section driving assembly364 is configured to drive the inner arm section 362 to move relative tothe middle arm section 361 along the reference line S6.

When the telescopic arm 36 is compressed, the inner arm section 362overlaps with the outer arm section 360.

When the telescopic arm 36 extends, the inner arm section 362 isseparated from the outer arm section 360 in a direction along thereference line S6.

It should be understood that, according to an actual situation, themiddle arm section 361 and the inner arm section driving assembly 364may be omitted. In some embodiments, the inner arm section 362 isinstalled to the outer arm section 360, and the inner arm section 362can move relative to the outer arm section 360 along the reference lineS3. The middle arm section driving assembly 363 is configured to drivethe inner arm section 362 to move relative to the outer arm section 360along the reference line S6.

The middle arm section driving assembly 363 includes a sprocket wheelmechanism 3630 and a middle arm section driving device 3631. An outputend of the middle arm section driving device 3631 is connected to adriving sprocket wheel of the sprocket wheel mechanism 3630. The middlearm section driving device 3631 is configured to drive the drivingsprocket wheel to rotate. The middle arm section 361 is fixedlyconnected to a roller chain of the sprocket wheel mechanism 3630, andthe sprocket wheel mechanism 3630 can drive the middle arm section 361to move relative to the outer arm section 360 along the reference lineS6.

As shown in FIG. 8, the middle arm section 361 includes a connectingplate 3611. The connecting plate 3611 is fixedly connected to a rollerchain of the sprocket wheel mechanism 3630. The sprocket wheel mechanism3630 can drive the middle arm section 361 through the connecting plate3611 to move relative to the outer arm section 360.

It should be understood that, according to an actual situation, thesprocket wheel mechanism 3630 may be replaced with a pulley mechanism orthe like.

The middle arm section driving device 3631 is a second motor.

It should be understood that, according to an actual situation, themiddle arm section driving device 3631 is not limited to a motor. Forexample, the middle arm section driving device 3631 may also be an airmotor, a hydraulic transmission system, or the like.

Refer to FIG. 9 together, the inner arm section driving assembly 364includes a movable pulley 3640 and a strop 3641. The movable pulley 3640is installed to the middle arm section 362. A middle part of the strop3641 is arranged to be bent so that two ends of the strop 3641 areoppositely arranged, that is, the strop 3641 is U-shaped, and the middlepart of the strop 3641 is sleeved over the movable pulley 3640. One endof the strop 3641 is fixedly connected to the outer arm section 360, andthe other end of the strop 3641 is fixedly connected to the inner armsection 362. The movable pulley 3640 and the strop 3641 form a movablepulley structure. When the middle arm section 361 moves at a first speedrelative to the outer arm section 360 along the reference line S6, theinner arm section 362 moves at a second speed relative to the outer armsection 360 along the reference line S6, the second speed is twice thefirst speed.

In this embodiment, the movable pulley 3640 is a flat belt pulley, andthe strop 3641 is an open-loop flat belt.

It should be understood that, according to an actual situation, themovable pulley 3640 and the strop 3641 are not limited to the flat beltpulley and the open-loop flat belt. In some embodiments, the movablepulley 3640 is a sprocket wheel, and strop 3641 is a roller chain.

The pusher assembly 37 includes a fixed push rod 370, a manipulator 371,and a push rod driving device 372. In an embodiment, two ends of thefixed push rod 370 are respectively fixedly installed at opposite endsof the two inner arm sections 362, and two manipulators 371 arerespectively installed at ends of the inner arm sections 362 away fromthe fixed push rod 370. The manipulators 371 can fold or unfold relativeto the inner arm sections 362. The push rod driving device 372 isconfigured to drive the manipulators 371 to fold or unfold relative tothe inner arm sections 362.

In some other embodiment, the pusher assembly 37 includes two fixed pushrods symmetrically disposed relative to the reference line S6, and eachfixed push rod is fixedly installed to a corresponding inner arm section362.

When the telescopic arm 36 is in a compressed state, the temporarystorage unit is located between the two ends of the inner arm section362 in a direction along the reference line S6.

When the telescopic arm 36 is in an extension state, an end of the innerarm section 362 installed with the fixed push rod 370 is close to thetemporary storage unit, and an end of the inner arm section 362installed with the manipulator 371 is away from the temporary storageunit.

In an embodiment, the push rod driving device 372 includes a thirdmotor, and an end of the manipulator 371 is installed at an output endof the third motor. The third motor is configured to drive themanipulator 371 to rotate relative to the inner arm section 362 aroundthe third axis S7 that is parallel to the reference line S6, so that themanipulator 371 unfolds or folds relative to the inner arm section 362.

When the manipulator 371 folds to the inner arm section 362, and aninventory item is located on the reference line S6, the end of the innerarm section 362 installed with the manipulator 371 can move from a sideof the corresponding inventory item facing the temporary storage unit toa side of the inventory item away from the temporary storage unit alongthe reference line S6, so that the manipulator 371 relative to the innerarm section 362 may pull the inventory item to the temporary storageunit along the reference line S6.

It should be noted that an inventory item is located on the referenceline S6, where the so-called inventory item may be an inventory item onthe warehouse shelf or an inventory item on the storage unit, as long asthe inventory item is located on the reference line S6.

When the warehouse shelf is located on the reference line S6, the fixedpush rod 370 can push the inventory item located on the temporarystorage unit 35 to a preset position of the warehouse shelf. It shouldbe noted that when the warehouse shelf is located on the reference lineS6, the material handling device 30 is at a same height as the warehouseshelf.

Similarly, when one storage unit 23 is located on the reference line S6,the fixed push rod can push the inventory item that is temporarilystored on the temporary storage unit 35 to a corresponding storage unit23 along the reference line S6. It should be noted that when one storageunit 23 is located on the reference line S6, the material handlingdevice 30 is at a same height as the storage unit 23.

It should be understood that, when the fixed push rod 370 pushes theinventory item, the manipulator 371 can fold relative to the inner armsection 362 or unfold relative to the inner arm section 362. When thefixed push rod 370 completes the pushing of the inventory item and isreset, the manipulator 371 folds relative to the inner arm section 362.

It should be understood that, according to an actual situation, thetemporary storage unit 35 can be omitted. The temporary storage unit 35has basically the same structure as the storage unit 23 or the warehouseshelf, and at the position of the temporary storage unit 35, thetemporary storage unit 35 can be directly replaced with the storage unit23. In some embodiments, each storage unit 23 is located on the samehorizontal plane as a corresponding warehouse shelf. When one storageunit 23 and the preset positions of one warehouse shelf are both on thereference line S6, the fixed push rod 370 may push the inventory itemplaced on the corresponding storage unit 23 to the preset position ofthe corresponding warehouse shelf, or the manipulator 371 unfoldedrelative to the inner arm section 362 pulls the inventory item locatedon the corresponding warehouse shelf to the corresponding storage unit23.

In some embodiments, the fixed push rod 370 may be omitted.Specifically, the manipulator includes a pushing surface and a pullingsurface, which are oppositely arranged. The pushing surface is orientedtoward one end of the reference line, and the pulling surface isoriented toward the other end of the reference line. The inner armsection 362 installed with the manipulator 371 can move to either sideof the inventory item (located on the temporary storage unit, thestorage unit, or the warehouse shelf) by the manipulator 371 foldedrelative to the inner arm section 362, and the manipulator 371 unfoldedrelative to the inner arm section 362 can push the inventory item to thetemporary storage unit 35, the storage unit 23 or the preset position ofthe warehouse shelf via the pushing surface, or pull the inventory itemto the temporary storage unit 35, the storage unit 23 or the presetposition of the warehouse shelf via the pulling surface.

The rotation assembly 33 is configured to rotate the fork 32 relative tothe storage frame 20 around a vertical direction, so that any two orthree of any storage unit 23, the warehouse shelves and the referenceline S6 may not be located in the same vertical plane.

Refer to FIG. 10 together, the rotation assembly 33 includes a rotationmechanism 330, a rotation driving mechanism 331, a deflection detectiondevice, and a rotation limit device. The rotation mechanism 330 isinstalled between the fork 32 and the support bracket 31. The rotationmechanism 330 can rotate around the rotation axis S5, and the rotationdriving mechanism is configured to drive the rotation mechanism 330 torotate around the rotation axis S5. The deflection detection device isconfigured to control the rotation driving mechanism 331.

The rotation mechanism 330 includes a first rotation member 3300 and asecond rotation member 3301. The first rotation member 3300 is installedto a surface of the support bracket 31 facing the fork 32. The secondrotation member 3301 is installed to the first rotation member 3300, andthe second rotation member 3301 can rotate around the rotation axis S5relative to the first rotation member 3300. The fork 32 is installed tothe second rotation member 3301.

In this embodiment, the first rotation member 3300 is a slewing bearinginner ring, and a center line of the slewing bearing inner ring iscoaxial with the rotation axis S5. The second rotation member 3301 is aslewing bearing outer ring, and the slewing bearing outer ring issleeved on the slewing bearing inner ring, so that the slewing bearingouter ring can rotate around the rotation axis S5 relative to theslewing bearing inner ring, and the slewing bearing outer ring and theslewing bearing inner ring support the fork 32 together.

It should be understood that, according to an actual situation, thefirst rotation member 3300 and the second rotation member 3301 are notlimited to a combination of the slewing bearing inner ring and theslewing bearing outer ring.

The rotation driving mechanism 331 includes an outer ring gear 3310, arotation driving gear 3311, and a rotation driving device. The outerring gear 3310 is fixedly connected to the second rotation member 3301,and the outer ring gear 3310 is coaxial with the rotation axis S5. Anoutput end of the rotation driving device is connected to the rotationdriving gear 3311, and the rotation driving device is configured todrive the rotation driving gear 3311 to rotate, so that the outer ringgear 3310 that is engaged with the rotation driving gear 3311 rotatesaround the rotation axis S5, and drives the second rotation member 3301fixedly connected to the outer ring gear 3310 to rotate around therotation axis S4.

In this embodiment, the outer ring gear 3310 is integrally formed withthe slewing bearing outer ring.

It should be understood that, according to an actual situation, therotation driving mechanism 331 is not limited to the outer ring gear3310 and the rotation driving gear 3311. For example, the rotationdriving mechanism is a worm gear mechanism, a gear set, or a planetarygear mechanism.

In this embodiment, the rotation driving device is a fourth motor. Itshould be understood that, according to an actual situation, therotation driving device may also be a linear motor, an air motor, ahydraulic drive system, etc.

The rotation limit device includes a first limit post 3320, a secondlimit bar 3321, and a limit block 3322. The first limit bar 3320 and thesecond limit bar 3321 are both installed to the surface of the supportbracket 31 facing the fork 32, and the first limit bar 3320 and thesecond limit bar 3321 are circumferentially distributed around therotation axis S5. The limit block 3322 is installed to a surface of thefork 32 facing the support bracket 31. The limit block 3322 can abutagainst the first limit bar 3320 and the second limit bar 3321,respectively, enabling the rotation mechanism 330 to rotate around therotation axis S5 within a preset angle range, to drive the fork 32 torotate to a preset angle, so that the preset angle is within the presetangle range.

The deflection detection device is configured to detect whether the fork32 rotates to the preset angle.

When the deflection detection device detects that the fork has not yetrotated to the preset angle, the deflection detection device controlsthe rotation assembly to drive the fork to continue to rotate.

When the deflection detection device detects that the fork rotates overthe preset position, the deflection detection device controls therotation assembly to drive the fork to rotate in a reverse direction.

When the deflection detection device detects that the fork rotates tothe preset angle, the deflection detection device controls the rotationassembly to stop rotating.

The deflection detection device includes a first sensor 3330, a secondsensor 3331 and a rotation controller. The first sensor 3330 and thesecond sensor 3331 are both connected to the rotation controller.

The first sensor 3330 is provided with a first detection range. Thefirst sensor 3330 is configured to detect the fork 32 within the firstdetection range.

The second sensor 3331 is provided with a second detection range. Thesecond sensor 3331 is configured to detect the fork 32 within the seconddetection range.

The rotation controller is connected to the rotation driving device, andis configured to control the fork 32 to rotate around the rotation axisS5 through the rotation driving device.

When the first sensor 3330 detects the fork 32 in the first detectionrange, and the second sensor 3331 does not detect the fork 32 in thesecond detection range, the fork 32 has not yet rotated to the presetangle.

When the first sensor 3330 does not detect the fork 32 in the firstdetection range, and the second sensor 3331 detects the fork 32 in thesecond detection range, the fork 32 has rotated over the preset angle.

When the first sensor 3330 detects the fork 32 in the first detectionrange, and the second sensor 3331 detects the fork 32 in the seconddetection range, the fork 32 rotates to the preset angle.

In this embodiment, the first sensor 3330 is a first proximity switch,and the first proximity switch is installed to the surface of the fork32 facing the support bracket 31. The second sensor 3331 is a secondproximity switch, the second proximity switch and the first proximityswitch are installed to the surface of the support bracket 31. The firstproximity switch and the second proximity switch are circumferentiallydistributed around the rotation axis S5. The rotation controller furtherincludes a detection board 3333. The detection board 33 is installed tothe surface of the support bracket 31 facing the fork 32, and thedetection board 3333 is arranged to be bend around the rotation axis S5.

When the fork 32 rotates into a first preset angle range and does notrotate into a second preset angle range, the first proximity switchfaces the detection board 3333, and the second proximity switch does notface the detection board 3333.

When the fork 32 does not rotate into the first preset angle range butrotates into the second preset angle range, the first proximity switchdoes not face the detection board 3333, but the second proximity switchfaces the detection board 3333.

When the fork 32 rotates to a benchmark angle, the first proximityswitch faces one end of the detection board 3333, and the secondproximity switch faces the other end of the detection board 3333.

In some embodiments, the rotation assembly 33 may be omitted, and thematerial handling robot may adjust a horizontal orientation of the fork32 by the movable chassis 10 to replace the function of the rotationassembly, as long as a storage unit 23 and a corresponding warehouseshelf are located on the reference line S6 at the same time. Forexample, when the movable chassis 10 and the lifting assembly 40 work sothat a storage unit 23 and a corresponding warehouse shelf are locatedat the reference line S6, one end of the inner arm section 362 installedwith the manipulator 371 first passes the corresponding storage unit 23,and then the manipulator 371 unfolded relative to the inner arm section362 pulls the inventory item to the corresponding storage unit, and thencontinues to pull to the temporary storage unit 35. And the fixed pushrod 370 pushes the inventory item located on the temporary storage unit35 to the corresponding storage unit 23, and then continues to push theinventory item located on the corresponding storage unit 23 to thepreset position of the corresponding warehouse shelf. Since theinventory item first passes through the corresponding storage unit 23 orthe corresponding warehouse shelf, then reaches the temporary storageunit 35, the temporary storage unit 35 may be omitted in thisembodiment.

Refer back to FIG. 6, the detection device 34 is configured to detectthe position information of the material handling device 30 relative tothe inventory item, i.e., to determine whether the storage unit 23, thepreset position of the warehouse shelf, or the inventory item is locatedon the reference line S6.

Specifically, the position information of the material handling devicerelative to the inventory item includes a first position offset betweenthe inventory item and the reference line in the travelling direction,and a second position offset between the inventory item and thereference line in the vertical direction, the distance between theinventory item and the manipulator along the reference line, and thedeflection amount between the inventory item and the reference line inthe horizontal direction. These position information will be describedin detail below.

The position information of the material handling device relative to theinventory item includes the first position offset between the inventoryitem and the reference line in travelling direction.

The detection device includes a camera device 340, a primary lightingequipment 341, and a secondary lighting equipment 342. The camera device340 is installed to a surface of the temporary storage unit 35 facingthe support bracket 31, and a lens of the camera device 340 is in thesame direction as the direction of the extension of the telescopic arm36. The camera device 340 is configured to acquire image information,such as, shooting the two-dimensional code on the warehouse shelf or thetwo-dimensional code attached on the inventory item, so as to determinewhether the storage unit, the preset position of the warehouse shelf, orthe inventory item is on the reference line S6. Alternatively, thecamera device 340 is configured to determine the position of theinventory item relative to the warehouse shelf and the position of theinventory item relative to the storage frame 20 through an imagedifference algorithm, and so on.

It should be understood that, according to an actual situation, thecamera device 340 may be replaced with a laser guiding device, aninfrared sensor, and etc.

The primary lighting equipment 341 is installed to the temporary storageunit 35, and is located on one side of the primary lighting equipment341 away from the camera device 340. The primary lighting equipment 341and the lens of the camera device 340 have the same orientation. Theprimary lighting equipment 341 is configured to compensate for light, sothat the camera device 340 can clearly shoot the two-dimensional code onthe warehouse shelf or the inventory item.

The secondary lighting equipment 342 is installed on the support bracket31, two secondary lighting equipments 342 are distributed relative tothe symmetrical axis S1, and the orientation of each secondary lightingequipment 342 is inclined upward, and is arranged back to the otherlighting equipment 342. The fork rotates around the rotation axis S5until the camera device 340 is located above one secondary lightingequipment 342, and then the one secondary lighting equipment 342 canfurther perform light compensation on the camera device 340, so that thehandling robot 100 can be adapted to different lighting environments,such as day and night. The secondary lighting equipment 342 is arrangedto be inclined, so that the light emitted by the secondary lightingequipment 342 is not easily all reflected to the lens of the cameradevice 340, resulting in excessive light compensation.

As shown in FIGS. 1-2, and 6-7, the fork 32 further includes a housing38. The housing 38 is installed around the temporary storage unit 35 andconfigured to prevent the inventory item on the temporary storage unit35 from falling off. At least a part of the temporary storage unit 35and the telescopic arm 36 is in the housing 38. For example, as shown inFIGS. 1-2 and 6-7, at least a part of the telescopic arm 36 and at leasta part of the temporary storage unit 35 are housed in the housing 38.

As shown in FIGS. 1-2 and 6-7, the housing 38 is U-shaped. The housing38 includes a left housing member 381, a right housing member 382, and arear housing member 383. The left housing member 381 is configured tohouse at least a part of one telescopic arm 36, and the right housingmember 382 is configured to house at least a part of another telescopicarm 36.

It is not limited to the ways to make and install the housing member 38.In an embodiment, the left housing member 381, the right housing member382 and the rear housing member 383 are integrally formed into onepiece. In some other embodiments, the left housing member 381, the righthousing member 382 and the rear housing member 383 are separatecomponents. Both the left housing member 381 and the right housingmember 382 may be connected to the rear housing member 383 viafasteners, such as screwed nuts. However, it may be also possible thatone of the left housing member 381 and the right housing member 382 isintegrally formed with the rear housing member 383, and another of theleft housing member 381 and the right housing member 382 is connected tothe rear housing member 383 by fasteners.

In an embodiment, the left housing member 381 may be integrally formedwith one telescopic arm 36, and the right housing member 382 may beintegrally formed with another telescopic arm 36.

It is not limited to the shape and structure of each of left housingmember 381, the right housing member 382 and the rear housing member383, as long as the housing 38 is U-shaped as a whole. In an embodiment,the rear housing member 383 includes an arcuate outer surface. And insome other embodiments, the rear housing member 383 includes a flatouter surface. If the left housing member 381 and the right housingmember 382 are symmetrically disposed relative a reference line, and therear housing member 383 connects to both an end of the left housingmember 381 and an end of the right housing member 382, a U-shapedhousing 38 is formed.

As shown in FIGS. 1-2 and 6-7, a compartment 39 configured toaccommodate the inventory item is provided in the fork 32. In anembodiment, the elements including at least the housing 38 and thetemporary storage unit 35 form the compartment 39. The compartment 39 isprovided with a single opening 391 in a direction parallel to thedirection of extension or retraction of the telescopic arm 36.

It can be seen from FIGS. 1-2 and 6-7 that the single opening 391 isformed in the fork 32 in the direction parallel to the direction ofextension or retraction of the telescopic arm 36. In an embodiment, asshown in FIGS. 1-2 and 6-7, the U-shaped housing 38 is provided with thesingle opening 391 at the front side of the fork 32, which is away fromthe rear housing member 383.

The single opening 391 is located at a side opposite to the rear housing383. It is obvious that the inventory item can only be pushed away orpulled into the temporary storage unit 35 through the single opening391. Because there is only one opening in the direction of extension orretraction of the telescopic arm 36, the telescopic arm 36 cannot extendin two directions. It is obvious from FIGS. 1-2 and 6-7 that thetelescopic arm 36 can only extend in a single direction through thesingle opening 391. That is, the telescopic arm 36 can only extend inthe direction towards the opening 391, and the telescopic arm 36 cannotextend in a reverse direction. For example, the telescopic arm 36 cannotextend in a direction towards the rear housing member 383.

The lifting assembly 40 is configured to drive the material handlingdevice 30 to move relative to the storage frame 20 in the verticaldirection. The lifting assembly 40 includes a lifting transmissionmechanism and a lifting drive mechanism 42. The lifting drive mechanism42 is configured to provide a second driving force for movement of thematerial handling device 30 relative to the storage frame 20 in thevertical direction, and the lifting transmission mechanism is configuredto transmit the second driving force to the material handling device 30.

The lifting transmission mechanism includes two sets of synchronouswheel mechanisms 43. The two sets of synchronous wheel mechanisms 43 areinstalled to two opposite surfaces of the two vertical columns 115,respectively. Each set of synchronous wheel mechanism 43 includes adriving synchronous wheel 430, a tension wheel 431 and a synchronousbelt 432. The driving synchronous wheel 430 is installed at one end ofthe vertical columns 115 near the base body 112, and the tension wheel431 is installed at one end of the vertical columns 115 away from thebase body 112. The tension wheel 431 and the driving synchronous wheel430 are sleeved on the synchronous belt 432. The lifting drive mechanism42 is connected to the driving synchronous wheel 430, and is configuredto drive the driving synchronous wheel 430 to rotate. The drivingsynchronous wheel 430 drives the synchronous belt 432 to move in thevertical direction, so that the support bracket 31 fixedly connected tothe synchronous belt 432 synchronously moves in the vertical direction.

The synchronous belt 432 of each synchronous wheel mechanism 43 isconnected with a counterweight 433. Each counterweight 433 has a certainmass, and is installed on a counterweight rail of a correspondingvertical column 115. Each counterweight 433 can move relative to thecorresponding vertical column 115 in the vertical direction. When thematerial handling device 30 moves in the vertical direction, thecounterweight 433 can act as a buffer, and reduce the load of thelifting drive mechanism 42.

It should be understood that, on one hand, according to an actualsituation, the number of the synchronous wheel mechanisms 43 is notlimited to two. For example, the number of the synchronous wheelmechanisms 43 may be one, two or more, as long as there is at least one.On the other hand, according to an actual situation, the liftingtransmission mechanism is not limited to the synchronous wheel mechanism43. For example, the lifting transmission mechanism may also be asprocket wheel mechanism, or a gear rack mechanism, a turbine wormmechanism, a lifting screw mechanism, and so on.

Since the support bracket 31 supports the fork, the lifting drivemechanism has a large load during the transport of the inventory item.In order to ensure that the material handling device can smoothly lift,two synchronization wheel mechanisms have a high synchronization rate.

The lifting drive mechanism 42 includes a lifting driving device 420, adriving shaft 421, a driving gear, and a driven gear (both the drivinggear and the driven gear are installed in the gearbox 422 in thefigure). Two ends of the driving shaft 421 are connected to two drivingsynchronous wheels 430 of the two synchronous wheel mechanisms 43through flat keys. The driving shaft 421 transmits a torque to thedriving synchronous wheel 430 through the flat keys, so that the drivingsynchronous wheels 430 of the two synchronous wheel mechanisms 43 canrotate synchronously, which allows the material handling device 30 tosmoothly move in the vertical direction. The driven gear is sleevedbetween two shafts of the driving shaft 421, and the driving gearengages with the driven gear to transmit the driving force of thelifting driving device 420.

It should be understood that, according to an actual situation, thesynchronous wheel mechanism 43 may be replaced with a sprocket wheelmechanism, or a gear rack set, or the like.

In some embodiments, short shafts at both ends of the driving shaft 421are coaxially connected by a coupling. One end of one short shaft facingaway from the coupling is connected to the driving synchronous wheel 430of one synchronous wheel mechanism 43, and one end of the other shortshaft facing away from the coupling is connected to the drivingsynchronous wheel 430 of the other synchronous wheel mechanism 43, whichcan further ensure the synchronization rate of the two drivingsynchronous wheels 430.

In this embodiment, the lifting driving device 420 is a fifth motor. Itshould be understood that, according to an actual situation, the liftingdrive device is not limited to the fifth motor. For example, the liftingdriving device may also be an air motor, hydraulic transmission system,etc.

When the handling robot 100 is in a work state, the handling robot 100specifically involves the following several processes:

The handling robot 100 transports the inventory item on the warehouseshelf to the temporary storage unit. In step 1, the movable chassis 10drives the handling robot 100 to move to a warehouse shelf where aninventory item is placed. The movable chassis 10 is guided by theguiding device 14 so that the movable chassis 10 travels along aspecified path, and when reaching the warehouse shelf where theinventory item is placed, the movable chassis 10 is stationary relativeto the warehouse shelf. The movable chassis 10 moves in a travellingdirection. In step 2, the lifting assembly 40 drives the fork 32 to moverelative to the warehouse shelf in the vertical direction, so that thereference line S6 of the fork 32 is on the same horizontal plane as theinventory item. In an embodiment, the fork 32 moves sideways relative tothe travelling direction to pull or push the inventory item. Forexample, the fork 32 may be rotated so that the horizontal orientationof the fork is perpendicular to the travelling direction. In step 3, thefork 32 rotates around the vertically set rotation axis S5 so that theinventory item is on the reference line S6. In step 4, the telescopicarm 36 extends along the reference line. The manipulator 371 installedat one end of the inner arm section 362 folds relative to the inner armsection 362, and the one end of the inner arm section 362 installed withthe manipulator 371 moves from a side of the inventory item facing thetemporary storage unit 35 to a side of the inventory item facing awaythe temporary storage unit 35. In step 5, the manipulator 371 unfoldsrelative to the inner arm section 362, and then the telescopic arm 36 isretracted so that the manipulator 371 pulls the inventory item into thetemporary storage unit 35.

The handling robot 100 transports an inventory item in the temporarystorage unit 35 to a storage pallet. In step 1, the fork 32 rotatesrelative to the storage frame 20 around the rotation axis S5 until thereference line S6 of the fork 32 is on the same vertical plane as thestorage unit (in an embodiment provided by the present application, whenthe reference line S6 of the fork 32 is on the same vertical plane asthe storage unit, the fork 32 is at a benchmark angle relative to thesupport bracket 31). In step 2, the lifting assembly 40 drives the fork32 to move in the vertical direction, so that one storage unit islocated on the reference line S6. In step 3, the telescopic arm 36extends along the reference line S6 so that the fixed push rod 370installed at an end of the inner arm section 362 facing away from themanipulator 371 pushes the inventory item located in the temporarystorage unit 35 into a corresponding storage unit 23.

The handling robot 100 transports an inventory item in a storage palletto the temporary storage unit 35. In step 1, the fork 32 rotatesrelative to the storage frame 20 around the rotation axis S5 until thereference line S6 of the fork 32 is on the same vertical plane as thestorage unit. In step 2, the lifting assembly 40 drives the fork 32 tomove in the vertical direction so that one storage unit is located onthe reference line S6. In step 3, the telescopic arm 36 extends alongthe reference line. The manipulator 371 installed at one end of theinner arm section 362 folds relative to the inner arm section 362, andone end of the inner arm section 362 installed with the manipulator 371moves from the side of the inventory item facing the temporary storageunit to the side of the inventory item facing away the temporary storageunit. In step 5, the manipulator 371 unfolds relative to the inner armsection 362, and then the telescopic arm 36 is retracted so that themanipulator 371 pulls the inventory item into the temporary storageunit.

The handling robot 100 transports the inventory item in the temporarystorage unit to the warehouse shelf.

In step 1, the movable chassis 10 drives the handling robot 100 to moveto a preset position of the warehouse shelf. The movable chassis 10 isguided by the guiding device 14 to allow the movable chassis 10 totravel along a specified path.

When reaching the warehouse shelf, the movable chassis 10 is stationaryrelative to the warehouse shelf. In step 2, the lifting assembly 40drives the fork 32 to move relative to the warehouse shelf in thevertical direction, so that the reference line S6 of the fork 32 is onthe same horizontal plane as the preset position. In step 3, the fork 32rotates around the vertically set rotation axis S5 so that the presetposition is on the reference line S6. In step 4, the telescopic arm 36extends along the reference line S6, so that the fixed push rod 370installed at an end of the inner arm section 362 facing away themanipulator 371 pushes the inventory item located in the temporarystorage unit to the preset position of the warehouse shelf.

An embodiment of the present application provides a handling robot 100.The handling robot 100 includes: a movable chassis 10; a storage frame20, installed on the movable chassis 10, and provided with a pluralityof storage units 23 distributed in a vertical direction, each storageunit 23 being configured to place an inventory item; a material handingdevice 30, configured to transport an inventory item between a warehouseshelf and any one of the storage units 23, where the material handlingdevice 30 has a preset horizontal reference line S6, and the materialhandling device 30 includes a pusher assembly, the pusher assembly canmove relative to the storage frame along the reference line; and alifting assembly, configured to drive the material handling device tomove in a vertical direction so that any one of the storage units islocated on the reference line. When one of the storage units is locatedon the reference line, the pusher assembly can push the inventory itemto a corresponding storage unit along the reference line, or the pusherassembly can pull the inventory item located on the correspondingstorage unit away therefrom. By the above method, the handling robot 100equipped with the storage frame 20 can load a large number of inventoryitems.

Additionally, it can be realized that an inventory item is pushed intoor pulled away a storage unit, so that a distance between each twoadjacent storage units is small, and more storage units can be placed inthe handling robot with the same vertical height, increasing the maximumload capacity.

In addition, for such push-pull method for transporting an inventoryitem, there is no requirement for the shape of the inventory item, aslong as the inventory item can be pushed by a push rod, which allows thehandling robot has a wide range of applications.

Moreover, for such push-pull method for transporting an inventory item,the inventory item transported by the material handling device 30 eachtime may be a single object or several separated objects. For example,when the material handling device 30 transports the inventory item fromthe warehouse shelf, a plurality of objects on the warehouse shelf aresequentially arranged along the reference line S6. One end of the innerarm section 362 installed with the manipulator 371 moves from the frontside of the closest object to the back side of the farthest object, andthen the manipulator 371 pulls the plurality of objects together awaythe warehouse shelf.

Refer to FIG. 11 together, another embodiment of the present applicationprovides a method for retrieving an inventory item based on the handlingrobot 100 above. The method for retrieving an inventory item includesthe following steps.

Step 201: driving, by the telescopic arm, the manipulator to extend tothe preset position of the warehouse shelf along the preset horizontalreference line.

The manipulator at one end of the telescopic arm extends to the presetposition of the warehouse shelf along the reference line.

Step 202: loading, by the manipulator that is remained on the horizontalplane where the reference line is located, an inventory item located atthe preset position.

In this embodiment, the manipulator is configured to pull the inventoryitem. According to an actual situation, the manipulator may be invarious forms. For example, the manipulator may be in the form of clipor pallet, but is not limited thereto. In this embodiment, themanipulator drags the inventory item. In some embodiments, according toan actual situation, the manipulator can clamp the inventory item, orsupport the inventory item, etc., as long as the manipulator can drivethe inventory item to move along the reference line.

Step 203: driving, by the telescopic arm, the manipulator loaded withthe inventory item to move to the storage frame along the referenceline.

Step 204: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the inventory itemto the storage frame.

It should be noted that whether the manipulator moves, loads or unloadsthe inventory item is carried out on the preset horizontal referenceline, having a high utilization rate in the vertical space, and areasonable utilization of the vertical space.

Since the position of the inventory item on the warehouse shelf, i.e.,the preset position, may not be on the same horizontal plane as thereference line, a lifting assembly is added to drive the materialhandling device to move in the vertical direction. During the liftingprocess of the material handling device, the reference line can be onthe same horizontal plane with the inventory item located at any height.

In some embodiments, before step 201, the method for retrieving aninventory item further includes:

Step 2005: driving, by the lifting assembly, the material handlingdevice to move in the vertical direction, so that the manipulator ishorizontally opposed to the preset position.

Due to an economic factor in terms of land occupation in the warehouse,the value of horizontal space is higher than that of vertical space.Therefore, a preferred option is that the storage frame is provided witha plurality of storage units distributed in a vertical direction. Underthe condition of providing the lifting assembly, the lifting assemblycan also be fully utilized.

In some embodiments, before step 203, the method for retrieving aninventory item further includes:

Step 2025: driving, by the lifting assembly, the material handlingdevice to move in the vertical direction, so that the material handlingdevice is horizontally opposed to a corresponding storage unit and istherefore at a same height as the corresponding storage unit.

The material handling device is opposed to any corresponding storageunit through the lifting assembly, and then the inventory item can bestored in the corresponding storage unit.

The handling robot is equipped with the movable chassis, and can movebetween different warehouse shelves, so that the handling robot canrealize the function of transporting the inventory item betweendifferent warehouse shelves.

In some embodiments, before step 2005, the method for retrieving aninventory item further includes:

Step 2004: moving the movable chassis to a preset range in front of thewarehouse shelf.

The movable chassis carries the storage frame, the material handlingdevices, etc. to move to a preset range in front of the warehouse shelf.The warehouse shelf here may be a warehouse shelf in which an inventoryitem to be transported is placed, or a warehouse shelf in which aninventory item to be transported needs to be placed.

Since the material handling device needs to be aligned with theinventory item, i.e., keeping the inventory item on the reference line,it needs to perform alignment by the lifting assembly in the verticaldirection, and perform adjustment by the movable chassis in thehorizontal direction, so that the inventory item is located on thereference line in the horizontal direction, improving an accuracy of themanipulator for loading the inventory item.

The material handling device is provided with a detection device fordetecting a position of the material handling device relative to theinventory item, i.e., detecting whether the inventory item is on thereference line.

In some embodiments, before step 203 and after step 2025, the method forretrieving an inventory item further includes:

Step 2026: detecting, by the detection device, position information ofthe material handling device relative to the inventory item, andadjusting, by the handling robot, a posture of fetching the inventoryitem according to the position information of the material handlingdevice relative to the inventory item.

In an actual situation, an adjustment of the position of the referenceline only by the movable chassis has a low efficiency. This is due to alow efficiency of turning of the present movable chassis on one hand,and a high load of the handling robot and not high accuracy of themovement of the handling robot on the other hand, thereby the adjustmentof the position of the reference line only by the movable chassis havinga low efficiency.

Therefore, it is necessary to perform a joint adjustment in variousaspects, to improve the efficiency and accuracy of the posture offetching the inventory item by the handling robot.

Specifically, the movable chassis is provided with a travellingdirection, and the movable chassis has the highest efficiency whenmoving in the travelling direction.

The position information of the material handling device relative to theinventory item includes a first position offset between the inventoryitem and the reference line in the travelling direction. A skilledperson in the art knows that the reference line represents the materialhandling device and that the first position offset is actually arelative position between the material handling device and the inventoryitem in the travelling direction. In other words, the first positionoffset actually represents an amount of positional deviation of thematerial handling device with respect to the inventory item in thetravelling direction.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026A: causing the movable chassis to move in the travellingdirection according to the first position offset, so that the firstposition offset is smaller than a first error value.

Since it is difficult to move the movable chassis to a position with adetermined value during the adjustment of the movable chassis, the firsterror value is set. As long as an actual error, i.e., the first positionoffset, is smaller than the first error value, it can be considered thatthe movable chassis moves to a desired place. A person skilled in theart can set the first error value in the handling robot in advanceaccording to an actual situation.

Further, the position information of the material handling devicerelative to the inventory item includes a second position offset betweenthe inventory item and the reference line in the vertical direction. Askilled person in the art knows that the second position offset isactually a relative position between the material handling device andthe inventory item in the vertical direction. In other words, the secondposition offset actually represents an amount of positional deviation ofthe material handling device with respect to the inventory item in thevertical direction.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026B: driving, by the lifting assembly, the material handlingdevice to move in the vertical direction according to the secondposition offset, so that the second position offset is smaller than asecond error value.

It should be noted that, in step 2025, the material handling device hasachieved a preliminary lifting, but the inventory item has not beenaccurately positioned on the reference line, and by fine-tuning, thereference line can be located near the middle of the inventory item, toimprove the accuracy of retrieving the inventory item. A person skilledin the art can set the second error value in the handling robot inadvance according to an actual situation.

Further, the position information of the material handling devicerelative to the inventory item includes a distance between the inventoryitem and the manipulator along the reference line. A skilled person inthe art knows that the direction along the reference line represents thedirection of extension of telescopic arm and that the distance betweenthe inventory item and the manipulator along the reference line is adistance between the inventory item and the manipulator in a directionof extension of the telescopic arm.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026C: adjusting an extension amount of the telescopic arm alongthe reference line according to the distance, so that the extensionamount is larger than the distance.

It should be understood that by setting the extension amount of thetelescopic arm, the time for the telescopic arm to extend to the presetposition can be minimized, and the efficiency of retrieving an inventoryitem can be improved. A person skilled in the art may set the distancein the handling robot in advance according to an actual situation.

In this embodiment, the detection device is an image acquisition device.It should be understood that, according to an actual situation, thedetection device can also be in other forms. For example, the materialhandling device is provided with a laser transmitter and a laserreceiver, and the inventory item is provided with a reflective surface,and the positioning of the material handling device relative to theinventory item can be realized by the laser transmitter emitting a laserto the reflective surface, and the laser reflected by the reflectivesurface entering the laser receiver. Alternatively, the materialhandling device is provided with a radio frequency transmitter, and theinventory item is attached with an electronic label, and the positionrelationship between the material handling device and the inventory itemcan be determined by radio frequency identification.

Further, when the image acquisition device acquires image information ofthe inventory item, the detection device detects the positioninformation of the material handling device relative to the inventoryitem.

Further, a surface of the inventory item facing to the handling robot isattached with a two-dimensional code label. When the image acquisitiondevice acquires the image information of the inventory item, the imageacquisition device collects the information provided by thetwo-dimensional code label, and obtain the position information of thematerial handling device relative to the inventory item.

In an actual situation, it may happen that a height of the warehouseshelf and a height of the storage frame are not on the same horizontalplane. At this time, the inventory item cannot be directly transportedfrom the preset position of the warehouse shelf to the storage frame.Installing a temporary storage unit on the material handling device canrealize transportation of the inventory item in the case that the heightof the warehouse shelf and the height of the storage frame are not onthe same horizontal plane.

In some embodiments, before step 203, the method for retrieving aninventory item further includes:

Step 2026: driving, by the telescopic arm, the manipulator loaded withthe inventory item to retract to the temporary storage unit along thereference line.

Step 2027: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the inventory itemto the temporary storage unit.

Step 2028: loading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the inventory itemlocated on the temporary storage unit.

The inventory item on the warehouse shelf is first transported to thetemporary storage unit, and then the lifting assembly lifts or lower tomake the temporary storage unit and one storage unit located at the sameheight, transporting the inventory item to the corresponding storageunit.

Since inventory items are solid and mostly cuboid, and in an actualsituation, retrieving an inventory item requires a high accuracy whendirectly facing the inventory item. It is difficult for the referenceline to pass through the inventory item and be orthogonal to one surfaceof the inventory item by movement of the movable chassis in only onehorizontal dimension. Therefore, a horizontal dimension is supplementedto increase the flexibility of the adjustment of the posture of fetchingthe inventory item, which can more quickly adjust the posture offetching the inventory item and improve accuracy of retrieving theinventory item at the same time.

In some embodiments, after step 2028 and before step 203, the method forretrieving an inventory item further includes:

Step 2029: driving, by the rotation assembly, the telescopic arm torotate to a preset angle around a vertical direction, so that thematerial handling device is oriented towards the storage frame.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes a deflection amountbetween the inventory item and the reference line in the horizontaldirection. A skilled person in the art knows that the deflection amountis an amount of angle deviation of the material handling device withrespect to the inventory item in the horizontal plane.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026D: driving, by the rotation assembly, the fork to rotate arounda vertical direction according to the deflection amount, so that thedeflection amount is smaller than a third error value.

A person skilled in the art may set the third error value in thehandling robot in advance according to an actual situation.

The rotation requires a high precision and requires a high speed toimprove efficiency, but it is difficult for the fork to stop at a presetangle due to the inertia during the rotation.

In some embodiments, the driving, by the rotation assembly, the fork torotate around a vertical direction includes: when the deflectiondetection device detects that the fork has not yet rotated to the presetangle, driving, by the rotation assembly, the fork to continue torotate; when the deflection detection device detects that the fork hasrotated over the preset angle, driving, by the rotation assembly, thefork to rotate in a reverse direction; and when the deflection detectiondevice detects that the fork rotates to the preset angle, causing therotation assembly to stop rotating.

The deflection detection device controls the rotations of the fork, andmakes the fork to rotate to the preset angle.

Specifically, the deflection detection device includes: a first sensorprovided with a first detection range; and

a second sensor provided with a second detection range.

When the first sensor detects the fork in the first detection range, andthe second sensor does not detect the fork in the second detectionrange, the deflection detection device detects the fork has not yetrotated to the preset angle.

When the first sensor does not detect the fork in the first detectionrange, and the second sensor detects the fork in the second detectionrange, the deflection detection device detects the fork has rotated overthe preset angle.

When the first sensor detects the fork in the first detection range, andthe second sensor detects the fork in the second detection range, thedeflection detection device detects the fork rotates to the presetangle.

In order to improve the utilization of the warehouse in the horizontalspace, inventory items are placed in positions at two different depthsof the warehouse shelf, which may decrease an aisle for the handlingrobot and improve the utilization rate of the warehouse in thehorizontal space.

In some embodiments, the inventory item includes a first inventory itemand a second inventory item.

The preset position includes a first preset position and a second presetposition.

The first inventory item is located at the first preset position, andthe second inventory item is located at the second preset position.

The storage frame includes a first storage unit and a second storageunit.

When there is the second inventory item behind the first inventory item,the method for retrieving an inventory item further includes:

Step 301: driving, by the telescopic arm, the manipulator to extend tothe first preset position of the warehouse shelf along the referenceline.

Step 302: loading, by the manipulator that is remained on the horizontalplane where the reference line is located, the first inventory itemlocated at the first preset position.

Step 303: driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the first storage unit along thereference line.

Step 304: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the firstinventory item to the first storage unit.

Step 305: driving, by the telescopic arm, the manipulator to move to thesecond preset position of the warehouse shelf along the reference line.

Step 306: loading, by the manipulator that is remained on the horizontalplane where the reference line is located, the second inventory itemlocated at the second preset position.

Step 307: driving, by the telescopic arm, the manipulator loaded withthe second inventory item to move to the second storage unit along thereference line.

Step 308: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the secondinventory item to the second storage unit.

The first inventory item is transported to the first storage unit, andthen the second inventory item is transported to the second storageunit.

In an actual situation, there may be a case where only the secondinventory item is needed and the first inventory item is not needed.

In some embodiments, the method for retrieving an inventory item furtherincludes:

Step 309: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the reference line.

Step 3010: driving, by the telescopic arm, the manipulator to remain onthe horizontal plane where the reference line is located to load thefirst inventory item located on the first storage unit.

Step 3011: driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the first preset position of thewarehouse shelf along the reference line.

Step 3012A: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the firstinventory item to the first preset position of the warehouse shelf.

In an actual situation, it is not the best choice to place the unwantedfirst inventory item in the first preset position, because the secondpreset position is empty, and the second preset position is behind thefirst preset position, it is still necessary to take out the inventoryitem in the first preset position when an inventory item needs to beplaced in the second preset position, thereby having a low efficiency.

In some other embodiments, alternatively, the method for retrieving aninventory item further includes:

Step 309: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the reference line.

Step 3010: driving, by the telescopic arm, the manipulator that isremained on the horizontal plane where the reference line is located, toload the first inventory item located on the first storage unit.

Step 3011: driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the second preset position of thewarehouse shelf along the reference line.

Step 3012B: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the firstinventory item to the second preset position of the warehouse shelf.

The inventory items correspond to positions of the warehouse shelf oneby one.

In some embodiments, the method for retrieving an inventory item furtherincludes:

Step 3013: uploading current position information of the first inventoryitem.

Compared with the prior art, the present application provides a methodfor retrieving an inventory item based on a handling robot, where thehandling robot includes: a storage frame; a material handling deviceinstalled on the storage frame and including a telescopic arm and amanipulator installed to the telescopic arm; the method for retrievingan inventory item includes: driving, by the telescopic arm, themanipulator to extend to a preset position of a warehouse shelf along apreset horizontal reference line; loading, by the manipulator that isremained on the reference line, the inventory item in the presetposition; driving, by the telescopic arm, the manipulator loaded withthe inventory item to move to the storage frame along the referenceline, and unloading, by the manipulator that is remained on thereference line, the inventory item to the storage frame. By the abovemethod, the inventory item can be moved to the storage frame along thepreset horizontal reference line, the occupied space of the storageframe in the vertical direction is less and a larger number of inventoryitems can be loaded.

Finally, it should be noted that the above embodiments are only used toillustrate the technical solutions of the present application, not tolimit them; based on the idea of the present application, the technicalfeatures in the above embodiments or different embodiments may also becombined, the steps can be implemented in any order, and there are manyother variations in different aspects of the present application asdescribed above. For simplicity, they are not provided in detail;although the present application has been described in detail withreference to the aforementioned embodiments, a person having ordinaryskill in the art should understand that they may still modify technicalsolutions described in the aforementioned embodiments, or equivalentlyreplace some of the technical features; and these modifications orreplacements do not make the essence of the corresponding technicalsolutions deviate from the scope of the technical solutions of theembodiments of the present application.

What is claimed is:
 1. A handling robot, comprising: a movable chassisconfigured to move in a travelling direction, wherein the movablechassis comprises: a base; and a standing frame vertically installed tothe base, the standing frame comprising vertical columns and a pluralityof horizontal columns, the plurality of horizontal columns beingdistributed in a vertical direction, each of the plurality of horizontalcolumns being arranged horizontally and connected to the verticalcolumns; a storage frame provided with a plurality of storage unitsdistributed in the vertical direction, each of the plurality of storageunits being supported, at least in part, by a corresponding horizontalcolumn of the plurality of horizontal columns; a material handlingdevice configured to move in the vertical direction relative to thevertical columns, wherein the material handling device comprises: asupport bracket configured to move along the vertical columns in thevertical direction; a fork supported by the support bracket andconfigured to rotate around the vertical direction relative to thesupport bracket, the fork being configured to transport an inventoryitem between a warehouse shelf and one of the plurality of storageunits, the fork comprising: a temporary storage unit configured totemporarily store the inventory item on the temporary storage unit; twotelescopic arms symmetrically distributed at two sides of the temporarystorage unit, each of the two telescopic arms being configured to extendin a direction of extension or retract in order to transport theinventory item; a U-shaped housing provided with a single opening in adirection parallel to the direction of extension, the each of the twotelescopic arms being only extendable in a direction through the singleopening; and a pusher assembly installed to the each of the twotelescopic arms and comprising: a push rod fixedly installed to the eachof the two telescopic arms and configured to push the inventory itemaway from the temporary storage unit through the single opening; and amanipulator installed to the each of the two telescopic arms andconfigured to fold or unfold relative to the each of the two telescopicarms, the manipulator being configured to pull the inventory item intothe temporary storage unit through the single opening; and a rotationassembly configured to drive the fork comprising the temporary storageunit, the two telescopic arms, the U-shaped housing and the pusherassembly to rotate around the vertical direction relative to the supportbracket; and a lifting assembly connected to the support bracket andconfigured to drive the material handling device to move in the verticaldirection.
 2. The handling robot according to claim 1, wherein theU-shaped housing comprises: a left housing member configured to house atleast a part of one of the two telescopic arms; a right housing memberconfigured to house at least a part of another of the two telescopicarms; and a rear housing member configured to be connected to both theleft housing member and the right housing member; wherein the rearhousing member is opposite to the single opening.
 3. The handling robotaccording to claim 1, wherein the each of the two telescopic armscomprises: an outer arm section fixedly installed to the temporarystorage unit; and an inner arm section movably installed to the outerarm section, the inner arm section being configured to move relative tothe outer arm section; wherein the push rod is fixedly installed at afirst end of the inner arm section, the manipulator being rotatablyinstalled at a second end of the inner arm section, the manipulatorbeing configured to rotate relative to the inner arm section, themanipulator being configured to pull the inventory item into thetemporary storage unit when the manipulator is in a state where themanipulator is unfolded relative to the inner arm section.
 4. Thehandling robot according to claim 3, wherein the manipulator is furtherconfigured to unfold relative to the inner arm section in a state wherethe inventory item is in a process of being pushed away from thetemporary storage unit.
 5. The handling robot according to claim 1,wherein the each of the two telescopic arms comprises: an outer armsection fixedly installed to the temporary storage unit; a middle armsection movably installed to the outer arm section, the middle armsection being configured to move at a first speed relative to the outerarm section; and an inner arm section movably installed to the middlearm section, wherein the inner arm section is configured to move at asecond speed relative to the outer arm section; wherein the second speedis twice the first speed.
 6. The handling robot according to claim 1,wherein the material handling device further comprises a detectiondevice configured to detect position information of the materialhandling device relative to the inventory item; wherein the positioninformation comprises a first position offset reflecting an amount ofpositional deviation of the material handling device with respect to theinventory item in the travelling direction, and a second position offsetreflecting an amount of positional deviation of the material handlingdevice with respect to the inventory item in the vertical direction;wherein the movable chassis is configured to move in the travellingdirection based on, at least in part, the first position offset; whereinthe lifting assembly is configured to drive the material handling deviceto move in the vertical direction based on, at least in part, the secondposition offset.
 7. The handling robot according to claim 1, wherein thematerial handling device further comprises a detection device configuredto detect position information of the material handling device relativeto the inventory item; wherein the position information comprises adistance in the direction of extension between the inventory item andthe manipulator; wherein the each of the telescopic arm is configured toadjust an extension amount based on, at least in part, the distance. 8.The handling robot according to claim 1, wherein the material handlingdevice further comprises a detection device configured to detectposition information of the material handling device relative to theinventory item; wherein the position information comprises a deflectionamount reflecting an amount of angle deviation of the material handlingdevice with respect to the inventory item in a horizontal plane; whereinthe fork is configured to rotate around the vertical direction based on,at least in part, the deflection amount.
 9. The handling robot accordingto claim 1, wherein the movable chassis is configured to move in thetravelling direction so that a first position offset is smaller than afirst value, wherein the first position offset reflects an amount ofpositional deviation of the material handling device with respect to theinventory item in the travelling direction; wherein the lifting assemblyis configured to drive the material handling device to move in thevertical direction so that a second position offset is smaller than asecond value, wherein the second position offset reflects an amount ofpositional deviation of the material handling device with respect to theinventory item in the vertical direction.
 10. The handling robotaccording to claim 1, wherein the each of the telescopic arm isconfigured to adjust an extension amount so that the extension amount islarger than a distance in the direction of extension between theinventory item and the manipulator.
 11. The handling robot according toclaim 1, wherein the fork is configured to rotate around the verticaldirection so that a deflection amount is smaller than a third value,wherein the deflection amount reflects an amount of angle deviation ofthe material handling device with respect to the inventory item in ahorizontal plane.
 12. The handling robot according to claim 1, whereinthe each of the plurality of storage units is configured to incline froma side near the standing frame to a side away from the standing frame.13. The handling robot according to claim 1, wherein the fork is furtherconfigured to transport the inventory item on the one of the pluralityof storage units to another of the plurality of storage units.
 14. Thehandling robot according to claim 1, wherein a compartment with thesingle opening is formed in the fork, the compartment being configuredto accommodate the inventory item.
 15. The handling robot according toclaim 1, wherein the base comprises: a base body; and a housingconfigured to house the base body and comprising a compartment formed byan upper surface of the housing of the base, the compartment beingprovided with a bottom surface; wherein at least a part of the materialhandling device is in the compartment when the material handling deviceis in a state where the material handling device is lowered to aposition.
 16. A handling robot, comprising: a movable chassis configuredto move in a travelling direction, the movable chassis comprising: abase; and a standing frame vertically installed on the base; a storageframe supported by the movable chassis, the storage frame being providedwith a plurality of storage units distributed in a vertical direction; amaterial handling device configured to move along the standing frame inthe vertical direction, wherein the material handling device comprises:a support bracket configured to move along the standing frame in thevertical direction; a fork installed to the support bracket andsupported by the support bracket, the fork being configured to rotatearound the vertical direction relative to the support bracket, the forkbeing configured to transport an inventory item between a warehouseshelf and one of the plurality of storage units, the fork comprising: atemporary storage unit configured to temporarily store the inventoryitem on the temporary storage unit; a telescopic arm coupled to thetemporary storage unit and configured to extend or retract in order totransport the inventory item; a U-shaped housing provided with a singleopening in a direction parallel to a direction of extension of thetelescopic arm, the U-shaped housing being configured to house at leasta part of the telescopic arm, the telescopic arm being only extendablein a direction through the single opening; and a pusher assemblyinstalled to the telescopic arm, the pusher assembly being configured topush the inventory item away from the temporary storage unit through thesingle opening or pull the inventory item into the temporary storageunit through the single opening; and a rotation assembly configured todrive the fork comprising the temporary storage unit, the telescopicarm, the U-shaped housing and the pusher assembly to rotate around thevertical direction relative to the support bracket; and a liftingassembly connected to the support bracket and configured to drive thesupport bracket to move in the vertical direction along the standingframe.
 17. The handling robot according to claim 16, wherein the forkcomprises two telescopic arms disposed symmetrically at two sides of thetemporary storage unit, the U-shaped housing comprising: a left housingmember configured to house at least a part of one of the two telescopicarms; a right housing member configured to house at least a part ofanother of the two telescopic arms; and a rear housing member configuredto be connected to both the left housing member and the right housingmember; wherein the rear housing member is opposite to the singleopening.
 18. The handling robot according to claim 16, wherein thetelescopic arm comprises: an outer arm section fixedly connected to thetemporary storage unit; and an inner arm section movably connected tothe outer arm section; wherein the pusher assembly comprises: a push rodfixedly installed at a first end of the inner arm section, the push rodbeing configured to push the inventory item away from the temporarystorage unit; and a manipulator installed at a second end of the innerarm section and configured to fold or unfold relative to the inner armsection, the manipulator being configured to pull the inventory iteminto the temporary storage unit when the manipulator is in a state wherethe manipulator is unfolded relative to the inner arm section.
 19. Thehandling robot according to claim 18, wherein the manipulator isconfigured to be rotatably installed at the second end of the inner armsection; wherein the manipulator is further configured to unfoldrelative to the inner arm section in a state where the inventory item isin a process of being pushed away from the temporary storage unit. 20.The handling robot according to claim 16, wherein the telescopic armcomprises: an outer arm section fixedly installed to the temporarystorage unit; a middle arm section movably installed to the outer armsection, the middle arm section being configured to move at a firstspeed relative to the outer arm section; and an inner arm sectionmovably installed to the middle arm section, the inner arm section beingconfigured to move at a second speed relative to the outer arm section;wherein the second speed is twice the first speed.
 21. The handlingrobot according to claim 16, wherein the material handling devicefurther comprises a detection device configured to detect positioninformation of the material handling device relative to the inventoryitem; wherein the position information comprises a first position offsetreflecting an amount of positional deviation of the material handlingdevice with respect to the inventory item in the travelling direction,and a second position offset reflecting an amount of positionaldeviation of the material handling device with respect to the inventoryitem in the vertical direction; wherein the movable chassis isconfigured to move in the travelling direction based on, at least inpart, the first position offset; wherein the lifting assembly isconfigured to drive the material handling device to move in the verticaldirection based on, at least in part, the second position offset. 22.The handling robot according to claim 16, wherein the material handlingdevice further comprises a detection device configured to detectposition information of the material handling device relative to theinventory item; wherein the position information comprises a distance inthe direction of extension between the inventory item and a manipulatorof the pusher assembly, the manipulator being configured to be rotatablyinstalled to the telescopic arm; wherein the telescopic arm isconfigured to adjust an extension amount based on, at least in part, thedistance.
 23. The handling robot according to claim 16, wherein thematerial handling device further comprises a detection device configuredto detect position information of the material handling device relativeto the inventory item; wherein the position information comprises adeflection amount reflecting an amount of angle deviation of thematerial handling device with respect to the inventory item in ahorizontal plane; wherein the fork is configured to rotate around thevertical direction based on, at least in part, the deflection amount.24. The handling robot according to claim 16, wherein the movablechassis is configured to move in the travelling direction so that afirst position offset is smaller than a first value, wherein the firstposition offset reflects an amount of positional deviation of thematerial handling device with respect to the inventory item in thetravelling direction; wherein the lifting assembly is configured todrive the material handling device to move in the vertical direction sothat a second position offset is smaller than a second value, whereinthe second position offset reflects an amount of positional deviation ofthe material handling device with respect to the inventory item in thevertical direction.
 25. The handling robot according to claim 16,wherein the telescopic arm is configured to adjust an extension amountso that the extension amount is larger than a distance in the directionof extension between the inventory item and a manipulator of the pusherassembly, the manipulator being configured to be rotatably installed tothe telescopic arm.
 26. The handling robot according to claim 16,wherein the fork is configured to rotate around the vertical directionso that a deflection amount is smaller than a third value, wherein thedeflection amount reflects an amount of angle deviation of the materialhandling device with respect to the inventory item in a horizontalplane.
 27. The handling robot according to claim 16, wherein each of theplurality of storage units is configured to incline from a side near thestanding frame to a side away from the standing frame.
 28. The handlingrobot according to claim 16, wherein the fork is further configured totransport the inventory item on the one of the plurality of storageunits to another of the plurality of storage units.
 29. The handlingrobot according to claim 16, wherein the base comprises: a base body;and a housing configured to house the base body and comprising acompartment formed by an upper surface of the housing of the base, thecompartment being provided with a bottom surface; wherein at least apart of the material handling device is in the compartment of the basewhen the material handling device is in a state where the materialhandling device is lowered to a position.
 30. The handling robotaccording to claim 16, wherein the standing frame comprises verticalcolumns and a plurality of horizontal columns, the plurality ofhorizontal columns being distributed in the vertical direction, each ofthe plurality of horizontal columns being arranged horizontally andconnected to the vertical columns; wherein each of the plurality ofstorage units is supported, at least in part, by a correspondinghorizontal column of the plurality of horizontal columns.